Mathematical modeling of a six-axis force/moment sensor

In controlling the robot interacting with the external environment, an important role is played by the force/moment sensors. To design a good force sensor, we need to make a good model first. This paper presents a systematic modeling method of one type of force/moment sensor. A model of a previously designed sensor has been built on the basis of static and kinematic equations and a block form of the strain compliance matrix is obtained using the model.